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Yes, it can, but most PDFs are formatted for a much larger page size (normally A4 or Letter size) than the page size of the Kindle, which will make it very unpleasant to read on a 6" Kindle. You'll have to manually scroll each page from side to side, and up and down, in order to read it.
Just copy the file into the "/documents" folder of the Kindle.
You really need a large-screen device to be able to read PDFs well. I use my iPad, with a 9.7" screen, which works beautifully.
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